论文标题
通过在线避免在线避免的覆盖路径计划的空间填充曲线
Space Filling Curves for Coverage Path Planning with Online Obstacle Avoidance
论文作者
论文摘要
本文提出了使用空间填充曲线（SFC）的机器人勘探问题策略。该战略计划了一条避免未知障碍的道路，同时确保对感兴趣地区的自由空间进行全面覆盖。首先将感兴趣的区域切入，并使用SFC模式连接瓷砖/单元。机器人跟随SFC探索整个区域。但是，障碍物可以阻止机器人的系统运动。我们通过在线确定避免被阻塞的单元的替代路径来克服此问题，同时确保至少一次访问所有可访问的单元格。提出的策略根据单元格的图形连接以及到目前为止遇到的障碍物选择了下一个航路点。它是在线，详尽的，并且在要求不均匀覆盖的情况下工作。证明了该策略的完整性，并通过示例讨论了其理想的属性。
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of interest is first tessellated, and the tiles/cells are connected using a SFC pattern. A robot follows the SFC to explore the entire area. However, obstacles can block the systematic movement of the robot. We overcome this problem by determining an alternate path online that avoids the blocked cells while ensuring all the accessible cells are visited at least once. The proposed strategy chooses next waypoint based on the graph connectivity of the cells and the obstacle encountered so far. It is online, exhaustive and works in situations demanding non-uniform coverage. The completeness of the strategy is proved and its desirable properties are discussed with examples.
